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<div class="title">AngleAxis.h</div>  </div>
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<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// This file is part of Eigen, a lightweight C++ template library</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// for linear algebra.</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">// Copyright (C) 2008 Gael Guennebaud &lt;gael.guennebaud@inria.fr&gt;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// This Source Code Form is subject to the terms of the Mozilla</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// Public License v. 2.0. If a copy of the MPL was not distributed</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#ifndef EIGEN_ANGLEAXIS_H</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#define EIGEN_ANGLEAXIS_H</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; </div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &quot;./InternalHeaderCheck.h&quot;</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceEigen.html">Eigen</a> { </div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="keyword">namespace </span>internal {</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar_&gt; <span class="keyword">struct </span>traits&lt;AngleAxis&lt;Scalar_&gt; &gt;</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;{</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <span class="keyword">typedef</span> Scalar_ Scalar;</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;};</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;}</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar_&gt;</div>
<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classEigen_1_1AngleAxis.html">   51</a></span>&#160;<span class="keyword">class </span><a class="code" href="classEigen_1_1AngleAxis.html">AngleAxis</a> : <span class="keyword">public</span> <a class="code" href="classEigen_1_1RotationBase.html">RotationBase</a>&lt;AngleAxis&lt;Scalar_&gt;,3&gt;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;{</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classEigen_1_1RotationBase.html">RotationBase&lt;AngleAxis&lt;Scalar_&gt;</a>,3&gt; <a class="code" href="classEigen_1_1RotationBase.html">Base</a>;</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keyword">using</span> Base::operator*;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keyword">enum</span> { Dim = 3 };</div>
<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">   61</a></span>&#160;  <span class="keyword">typedef</span> Scalar_ <a class="code" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a>;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classEigen_1_1Matrix.html">Matrix&lt;Scalar,3,3&gt;</a> <a class="code" href="classEigen_1_1Matrix.html">Matrix3</a>;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classEigen_1_1Matrix.html">Matrix&lt;Scalar,3,1&gt;</a> <a class="code" href="classEigen_1_1Matrix.html">Vector3</a>;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classEigen_1_1Quaternion.html">Quaternion&lt;Scalar&gt;</a> <a class="code" href="classEigen_1_1Quaternion.html">QuaternionType</a>;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="keyword">protected</span>:</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <a class="code" href="classEigen_1_1Matrix.html">Vector3</a> m_axis;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <a class="code" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a> m_angle;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classEigen_1_1AngleAxis.html#ab4a1ad0b14eca9778f6431c2fc4b0904">   74</a></span>&#160;  EIGEN_DEVICE_FUNC <a class="code" href="classEigen_1_1AngleAxis.html#ab4a1ad0b14eca9778f6431c2fc4b0904">AngleAxis</a>() {}</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Derived&gt;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  EIGEN_DEVICE_FUNC </div>
<div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="classEigen_1_1AngleAxis.html#a78b42395c8c42bc24adeac7c53443cf5">   82</a></span>&#160;  <span class="keyword">inline</span> <a class="code" href="classEigen_1_1AngleAxis.html#a78b42395c8c42bc24adeac7c53443cf5">AngleAxis</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a>&amp; <a class="code" href="classEigen_1_1AngleAxis.html#ad933b9ba0c40224b7ded9a313396c736">angle</a>, <span class="keyword">const</span> <a class="code" href="classEigen_1_1MatrixBase.html">MatrixBase&lt;Derived&gt;</a>&amp; <a class="code" href="classEigen_1_1AngleAxis.html#a07ba27c022c814f745f0cdc3d0a7b661">axis</a>) : m_axis(<a class="code" href="classEigen_1_1AngleAxis.html#a07ba27c022c814f745f0cdc3d0a7b661">axis</a>), m_angle(<a class="code" href="classEigen_1_1AngleAxis.html#ad933b9ba0c40224b7ded9a313396c736">angle</a>) {}</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> QuatDerived&gt; </div>
<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classEigen_1_1AngleAxis.html#a388b4ff796a66ec0b13f42efe2d9dd8a">   87</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <span class="keyword">explicit</span> <a class="code" href="classEigen_1_1AngleAxis.html#a388b4ff796a66ec0b13f42efe2d9dd8a">AngleAxis</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1QuaternionBase.html">QuaternionBase&lt;QuatDerived&gt;</a>&amp; q) { *<span class="keyword">this</span> = q; }</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Derived&gt;</div>
<div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="classEigen_1_1AngleAxis.html#a85f643674f5e8dcc0917fe7fa599e0fd">   90</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <span class="keyword">explicit</span> <a class="code" href="classEigen_1_1AngleAxis.html#a85f643674f5e8dcc0917fe7fa599e0fd">AngleAxis</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1MatrixBase.html">MatrixBase&lt;Derived&gt;</a>&amp; m) { *<span class="keyword">this</span> = m; }</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classEigen_1_1AngleAxis.html#ad933b9ba0c40224b7ded9a313396c736">   93</a></span>&#160;  EIGEN_DEVICE_FUNC <a class="code" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a> <a class="code" href="classEigen_1_1AngleAxis.html#ad933b9ba0c40224b7ded9a313396c736">angle</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_angle; }</div>
<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="classEigen_1_1AngleAxis.html#a008a72c952febe092a63cf7a33072d79">   95</a></span>&#160;  EIGEN_DEVICE_FUNC <a class="code" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a>&amp; <a class="code" href="classEigen_1_1AngleAxis.html#a008a72c952febe092a63cf7a33072d79">angle</a>() { <span class="keywordflow">return</span> m_angle; }</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="classEigen_1_1AngleAxis.html#a07ba27c022c814f745f0cdc3d0a7b661">   98</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">const</span> <a class="code" href="classEigen_1_1Matrix.html">Vector3</a>&amp; <a class="code" href="classEigen_1_1AngleAxis.html#a07ba27c022c814f745f0cdc3d0a7b661">axis</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_axis; }</div>
<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="classEigen_1_1AngleAxis.html#a23d9c5e759a90a630555dccf0f6b92f4">  103</a></span>&#160;  EIGEN_DEVICE_FUNC <a class="code" href="classEigen_1_1Matrix.html">Vector3</a>&amp; <a class="code" href="classEigen_1_1AngleAxis.html#a23d9c5e759a90a630555dccf0f6b92f4">axis</a>() { <span class="keywordflow">return</span> m_axis; }</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="classEigen_1_1AngleAxis.html#a1c6afdfc1f129bea9742d01cf1220be2">  106</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Quaternion.html">QuaternionType</a> <a class="code" href="classEigen_1_1AngleAxis.html#a1c6afdfc1f129bea9742d01cf1220be2">operator* </a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1AngleAxis.html">AngleAxis</a>&amp; other)<span class="keyword"> const</span></div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;<span class="keyword">  </span>{ <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1Quaternion.html">QuaternionType</a>(*<span class="keyword">this</span>) * <a class="code" href="classEigen_1_1Quaternion.html">QuaternionType</a>(other); }</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno"><a class="line" href="classEigen_1_1AngleAxis.html#a0368ebf2e4f3038608acee3794e07764">  110</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Quaternion.html">QuaternionType</a> <a class="code" href="classEigen_1_1AngleAxis.html#a1c6afdfc1f129bea9742d01cf1220be2">operator* </a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Quaternion.html">QuaternionType</a>&amp; other)<span class="keyword"> const</span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;<span class="keyword">  </span>{ <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1Quaternion.html">QuaternionType</a>(*<span class="keyword">this</span>) * other; }</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="classEigen_1_1AngleAxis.html#acdec7200dd68b70b615bcda9659fed26">  114</a></span>&#160;  <span class="keyword">friend</span> EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Quaternion.html">QuaternionType</a> <a class="code" href="classEigen_1_1AngleAxis.html#a1c6afdfc1f129bea9742d01cf1220be2">operator* </a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Quaternion.html">QuaternionType</a>&amp; a, <span class="keyword">const</span> <a class="code" href="classEigen_1_1AngleAxis.html">AngleAxis</a>&amp; b)</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  { <span class="keywordflow">return</span> a * <a class="code" href="classEigen_1_1Quaternion.html">QuaternionType</a>(b); }</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="classEigen_1_1AngleAxis.html#a8dee3c98ecf3b95498901cfdb5c7911f">  118</a></span>&#160;  EIGEN_DEVICE_FUNC <a class="code" href="classEigen_1_1AngleAxis.html">AngleAxis</a> <a class="code" href="classEigen_1_1AngleAxis.html#a8dee3c98ecf3b95498901cfdb5c7911f">inverse</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;<span class="keyword">  </span>{ <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1AngleAxis.html#ab4a1ad0b14eca9778f6431c2fc4b0904">AngleAxis</a>(-m_angle, m_axis); }</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">class</span> QuatDerived&gt;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  EIGEN_DEVICE_FUNC <a class="code" href="classEigen_1_1AngleAxis.html">AngleAxis</a>&amp; operator=(<span class="keyword">const</span> <a class="code" href="classEigen_1_1QuaternionBase.html">QuaternionBase&lt;QuatDerived&gt;</a>&amp; q);</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Derived&gt;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  EIGEN_DEVICE_FUNC <a class="code" href="classEigen_1_1AngleAxis.html">AngleAxis</a>&amp; operator=(<span class="keyword">const</span> <a class="code" href="classEigen_1_1MatrixBase.html">MatrixBase&lt;Derived&gt;</a>&amp; m);</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Derived&gt;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  EIGEN_DEVICE_FUNC <a class="code" href="classEigen_1_1AngleAxis.html">AngleAxis</a>&amp; fromRotationMatrix(<span class="keyword">const</span> <a class="code" href="classEigen_1_1MatrixBase.html">MatrixBase&lt;Derived&gt;</a>&amp; m);</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  EIGEN_DEVICE_FUNC <a class="code" href="classEigen_1_1Matrix.html">Matrix3</a> <a class="code" href="classEigen_1_1AngleAxis.html#ad333c1b13aa0fa01d7fab30f18d2cd46">toRotationMatrix</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> NewScalarType&gt;</div>
<div class="line"><a name="l00136"></a><span class="lineno"><a class="line" href="classEigen_1_1AngleAxis.html#acaaea3e63665e811af3cacfd5fd141e0">  136</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <span class="keyword">typename</span> internal::cast_return_type&lt;AngleAxis,AngleAxis&lt;NewScalarType&gt; &gt;::type <a class="code" href="classEigen_1_1AngleAxis.html#acaaea3e63665e811af3cacfd5fd141e0">cast</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;<span class="keyword">  </span>{ <span class="keywordflow">return</span> <span class="keyword">typename</span> internal::cast_return_type&lt;AngleAxis,AngleAxis&lt;NewScalarType&gt; &gt;::type(*<span class="keyword">this</span>); }</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> OtherScalarType&gt;</div>
<div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="classEigen_1_1AngleAxis.html#a0eb5e6101b98e2e512cd30aaf3e4b141">  141</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <span class="keyword">explicit</span> <a class="code" href="classEigen_1_1AngleAxis.html#a0eb5e6101b98e2e512cd30aaf3e4b141">AngleAxis</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1AngleAxis.html">AngleAxis&lt;OtherScalarType&gt;</a>&amp; other)</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  {</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    m_axis = other.<a class="code" href="classEigen_1_1AngleAxis.html#a07ba27c022c814f745f0cdc3d0a7b661">axis</a>().template cast&lt;Scalar&gt;();</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    m_angle = <a class="code" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a>(other.<a class="code" href="classEigen_1_1AngleAxis.html#ad933b9ba0c40224b7ded9a313396c736">angle</a>());</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  }</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keyword">const</span> <a class="code" href="classEigen_1_1AngleAxis.html">AngleAxis</a> Identity() { <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1AngleAxis.html#ab4a1ad0b14eca9778f6431c2fc4b0904">AngleAxis</a>(<a class="code" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a>(0), <a class="code" href="classEigen_1_1MatrixBase.html#a8a555b7cf626cced54670b98668c4e6d">Vector3::UnitX</a>()); }</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno"><a class="line" href="classEigen_1_1AngleAxis.html#acd82611c4fd46fcba522b0ede93f4f79">  153</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keywordtype">bool</span> <a class="code" href="classEigen_1_1AngleAxis.html#acd82611c4fd46fcba522b0ede93f4f79">isApprox</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1AngleAxis.html">AngleAxis</a>&amp; other, <span class="keyword">const</span> <span class="keyword">typename</span> <a class="code" href="structEigen_1_1NumTraits.html">NumTraits&lt;Scalar&gt;::Real</a>&amp; prec = <a class="code" href="structEigen_1_1NumTraits.html">NumTraits&lt;Scalar&gt;::dummy_precision</a>())<span class="keyword"> const</span></div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;<span class="keyword">  </span>{ <span class="keywordflow">return</span> m_axis.isApprox(other.m_axis, prec) &amp;&amp; internal::isApprox(m_angle,other.m_angle, prec); }</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;};</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno"><a class="line" href="group__Geometry__Module.html#gad823b9c674644b14d950fbfe165dfdbf">  159</a></span>&#160;<span class="keyword">typedef</span> <a class="code" href="classEigen_1_1AngleAxis.html">AngleAxis&lt;float&gt;</a> <a class="code" href="group__Geometry__Module.html#gad823b9c674644b14d950fbfe165dfdbf">AngleAxisf</a>;</div>
<div class="line"><a name="l00162"></a><span class="lineno"><a class="line" href="group__Geometry__Module.html#gaed936d6e9192d97f00a9608081fa9b64">  162</a></span>&#160;<span class="keyword">typedef</span> <a class="code" href="classEigen_1_1AngleAxis.html">AngleAxis&lt;double&gt;</a> <a class="code" href="group__Geometry__Module.html#gaed936d6e9192d97f00a9608081fa9b64">AngleAxisd</a>;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar&gt;</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> QuatDerived&gt;</div>
<div class="line"><a name="l00172"></a><span class="lineno"><a class="line" href="classEigen_1_1AngleAxis.html#abdba7c4e3a2b32b75ee094c0834f078c">  172</a></span>&#160;EIGEN_DEVICE_FUNC <a class="code" href="classEigen_1_1AngleAxis.html">AngleAxis&lt;Scalar&gt;</a>&amp; <a class="code" href="classEigen_1_1AngleAxis.html">AngleAxis&lt;Scalar&gt;::operator=</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1QuaternionBase.html">QuaternionBase&lt;QuatDerived&gt;</a>&amp; q)</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;{</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  EIGEN_USING_STD(atan2)</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  EIGEN_USING_STD(<a class="code" href="namespaceEigen.html#ae27242789e7e62a8c42579b79be59b1a">abs</a>)</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  <a class="code" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a> n = q.<a class="code" href="classEigen_1_1QuaternionBase.html#ada8bdb403471df23511bdc0f227962ea">vec</a>().norm();</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  <span class="keywordflow">if</span>(n&lt;<a class="code" href="structEigen_1_1NumTraits.html">NumTraits&lt;Scalar&gt;::epsilon</a>())</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    n = q.<a class="code" href="classEigen_1_1QuaternionBase.html#ada8bdb403471df23511bdc0f227962ea">vec</a>().stableNorm();</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  <span class="keywordflow">if</span> (n != <a class="code" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a>(0))</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  {</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    m_angle = <a class="code" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a>(2)*atan2(n, <a class="code" href="namespaceEigen.html#ae27242789e7e62a8c42579b79be59b1a">abs</a>(q.<a class="code" href="classEigen_1_1QuaternionBase.html#ab5eae91bedac0afaab0074cec5e535bc">w</a>()));</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    <span class="keywordflow">if</span>(q.<a class="code" href="classEigen_1_1QuaternionBase.html#ab5eae91bedac0afaab0074cec5e535bc">w</a>() &lt; <a class="code" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a>(0))</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      n = -n;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    m_axis  = q.<a class="code" href="classEigen_1_1QuaternionBase.html#ada8bdb403471df23511bdc0f227962ea">vec</a>() / n;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  }</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  {</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    m_angle = <a class="code" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a>(0);</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    m_axis &lt;&lt; <a class="code" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a>(1), <a class="code" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a>(0), <a class="code" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a>(0);</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  }</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;}</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar&gt;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Derived&gt;</div>
<div class="line"><a name="l00199"></a><span class="lineno"><a class="line" href="classEigen_1_1AngleAxis.html#a5d44694f1ad7a421baa7df4c5a599f44">  199</a></span>&#160;EIGEN_DEVICE_FUNC <a class="code" href="classEigen_1_1AngleAxis.html">AngleAxis&lt;Scalar&gt;</a>&amp; <a class="code" href="classEigen_1_1AngleAxis.html">AngleAxis&lt;Scalar&gt;::operator=</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1MatrixBase.html">MatrixBase&lt;Derived&gt;</a>&amp; mat)</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;{</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  <span class="comment">// Since a direct conversion would not be really faster,</span></div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  <span class="comment">// let&#39;s use the robust Quaternion implementation:</span></div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  <span class="keywordflow">return</span> *<span class="keyword">this</span> = <a class="code" href="classEigen_1_1Quaternion.html">QuaternionType</a>(mat);</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;}</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar&gt;</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Derived&gt;</div>
<div class="line"><a name="l00211"></a><span class="lineno"><a class="line" href="classEigen_1_1AngleAxis.html#af7640c5bfd9c6f13134f5f55cae6f38c">  211</a></span>&#160;EIGEN_DEVICE_FUNC <a class="code" href="classEigen_1_1AngleAxis.html">AngleAxis&lt;Scalar&gt;</a>&amp; <a class="code" href="classEigen_1_1AngleAxis.html">AngleAxis&lt;Scalar&gt;::fromRotationMatrix</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1MatrixBase.html">MatrixBase&lt;Derived&gt;</a>&amp; mat)</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;{</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;  <span class="keywordflow">return</span> *<span class="keyword">this</span> = <a class="code" href="classEigen_1_1Quaternion.html">QuaternionType</a>(mat);</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;}</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar&gt;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;<span class="keyword">typename</span> <a class="code" href="classEigen_1_1Matrix.html">AngleAxis&lt;Scalar&gt;::Matrix3</a></div>
<div class="line"><a name="l00220"></a><span class="lineno"><a class="line" href="classEigen_1_1AngleAxis.html#ad333c1b13aa0fa01d7fab30f18d2cd46">  220</a></span>&#160;EIGEN_DEVICE_FUNC <a class="code" href="classEigen_1_1AngleAxis.html#ad333c1b13aa0fa01d7fab30f18d2cd46">AngleAxis&lt;Scalar&gt;::toRotationMatrix</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span></div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  EIGEN_USING_STD(<a class="code" href="namespaceEigen.html#ae6e8ad270ff41c088d7651567594f796">sin</a>)</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;  EIGEN_USING_STD(<a class="code" href="namespaceEigen.html#ad01d50a42869218f1d54af13f71517a6">cos</a>)</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  <a class="code" href="classEigen_1_1Matrix.html">Matrix3</a> res;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  <a class="code" href="classEigen_1_1Matrix.html">Vector3</a> sin_axis  = <a class="code" href="namespaceEigen.html#ae6e8ad270ff41c088d7651567594f796">sin</a>(m_angle) * m_axis;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  <a class="code" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a> c = <a class="code" href="namespaceEigen.html#ad01d50a42869218f1d54af13f71517a6">cos</a>(m_angle);</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  <a class="code" href="classEigen_1_1Matrix.html">Vector3</a> cos1_axis = (<a class="code" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a>(1)-c) * m_axis;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  <a class="code" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a> tmp;</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  tmp = cos1_axis.x() * m_axis.y();</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  res.<a class="code" href="classEigen_1_1PlainObjectBase.html#a992d58b5453e441dcfc80f21c2bfd1d7">coeffRef</a>(0,1) = tmp - sin_axis.z();</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;  res.<a class="code" href="classEigen_1_1PlainObjectBase.html#a992d58b5453e441dcfc80f21c2bfd1d7">coeffRef</a>(1,0) = tmp + sin_axis.z();</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160; </div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  tmp = cos1_axis.x() * m_axis.z();</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  res.<a class="code" href="classEigen_1_1PlainObjectBase.html#a992d58b5453e441dcfc80f21c2bfd1d7">coeffRef</a>(0,2) = tmp + sin_axis.y();</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  res.<a class="code" href="classEigen_1_1PlainObjectBase.html#a992d58b5453e441dcfc80f21c2bfd1d7">coeffRef</a>(2,0) = tmp - sin_axis.y();</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160; </div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  tmp = cos1_axis.y() * m_axis.z();</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;  res.<a class="code" href="classEigen_1_1PlainObjectBase.html#a992d58b5453e441dcfc80f21c2bfd1d7">coeffRef</a>(1,2) = tmp - sin_axis.x();</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;  res.<a class="code" href="classEigen_1_1PlainObjectBase.html#a992d58b5453e441dcfc80f21c2bfd1d7">coeffRef</a>(2,1) = tmp + sin_axis.x();</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160; </div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;  res.<a class="code" href="classEigen_1_1MatrixBase.html#a2d641a5804fff1c3db99a84ea93ecb63">diagonal</a>() = (cos1_axis.cwiseProduct(m_axis)).array() + c;</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;  <span class="keywordflow">return</span> res;</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;}</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160; </div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;} <span class="comment">// end namespace Eigen</span></div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160; </div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// EIGEN_ANGLEAXIS_H</span></div>
<div class="ttc" id="aclassEigen_1_1AngleAxis_html"><div class="ttname"><a href="classEigen_1_1AngleAxis.html">Eigen::AngleAxis</a></div><div class="ttdoc">Represents a 3D rotation as a rotation angle around an arbitrary 3D axis.</div><div class="ttdef"><b>Definition:</b> AngleAxis.h:52</div></div>
<div class="ttc" id="aclassEigen_1_1AngleAxis_html_a008a72c952febe092a63cf7a33072d79"><div class="ttname"><a href="classEigen_1_1AngleAxis.html#a008a72c952febe092a63cf7a33072d79">Eigen::AngleAxis::angle</a></div><div class="ttdeci">Scalar &amp; angle()</div><div class="ttdef"><b>Definition:</b> AngleAxis.h:95</div></div>
<div class="ttc" id="aclassEigen_1_1AngleAxis_html_a07ba27c022c814f745f0cdc3d0a7b661"><div class="ttname"><a href="classEigen_1_1AngleAxis.html#a07ba27c022c814f745f0cdc3d0a7b661">Eigen::AngleAxis::axis</a></div><div class="ttdeci">const Vector3 &amp; axis() const</div><div class="ttdef"><b>Definition:</b> AngleAxis.h:98</div></div>
<div class="ttc" id="aclassEigen_1_1AngleAxis_html_a0eb5e6101b98e2e512cd30aaf3e4b141"><div class="ttname"><a href="classEigen_1_1AngleAxis.html#a0eb5e6101b98e2e512cd30aaf3e4b141">Eigen::AngleAxis::AngleAxis</a></div><div class="ttdeci">AngleAxis(const AngleAxis&lt; OtherScalarType &gt; &amp;other)</div><div class="ttdef"><b>Definition:</b> AngleAxis.h:141</div></div>
<div class="ttc" id="aclassEigen_1_1AngleAxis_html_a19d36a44174a4053bc16dbb16f02c493"><div class="ttname"><a href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Eigen::AngleAxis::Scalar</a></div><div class="ttdeci">Scalar_ Scalar</div><div class="ttdef"><b>Definition:</b> AngleAxis.h:61</div></div>
<div class="ttc" id="aclassEigen_1_1AngleAxis_html_a1c6afdfc1f129bea9742d01cf1220be2"><div class="ttname"><a href="classEigen_1_1AngleAxis.html#a1c6afdfc1f129bea9742d01cf1220be2">Eigen::AngleAxis::operator*</a></div><div class="ttdeci">QuaternionType operator*(const AngleAxis &amp;other) const</div><div class="ttdef"><b>Definition:</b> AngleAxis.h:106</div></div>
<div class="ttc" id="aclassEigen_1_1AngleAxis_html_a23d9c5e759a90a630555dccf0f6b92f4"><div class="ttname"><a href="classEigen_1_1AngleAxis.html#a23d9c5e759a90a630555dccf0f6b92f4">Eigen::AngleAxis::axis</a></div><div class="ttdeci">Vector3 &amp; axis()</div><div class="ttdef"><b>Definition:</b> AngleAxis.h:103</div></div>
<div class="ttc" id="aclassEigen_1_1AngleAxis_html_a388b4ff796a66ec0b13f42efe2d9dd8a"><div class="ttname"><a href="classEigen_1_1AngleAxis.html#a388b4ff796a66ec0b13f42efe2d9dd8a">Eigen::AngleAxis::AngleAxis</a></div><div class="ttdeci">AngleAxis(const QuaternionBase&lt; QuatDerived &gt; &amp;q)</div><div class="ttdef"><b>Definition:</b> AngleAxis.h:87</div></div>
<div class="ttc" id="aclassEigen_1_1AngleAxis_html_a78b42395c8c42bc24adeac7c53443cf5"><div class="ttname"><a href="classEigen_1_1AngleAxis.html#a78b42395c8c42bc24adeac7c53443cf5">Eigen::AngleAxis::AngleAxis</a></div><div class="ttdeci">AngleAxis(const Scalar &amp;angle, const MatrixBase&lt; Derived &gt; &amp;axis)</div><div class="ttdef"><b>Definition:</b> AngleAxis.h:82</div></div>
<div class="ttc" id="aclassEigen_1_1AngleAxis_html_a85f643674f5e8dcc0917fe7fa599e0fd"><div class="ttname"><a href="classEigen_1_1AngleAxis.html#a85f643674f5e8dcc0917fe7fa599e0fd">Eigen::AngleAxis::AngleAxis</a></div><div class="ttdeci">AngleAxis(const MatrixBase&lt; Derived &gt; &amp;m)</div><div class="ttdef"><b>Definition:</b> AngleAxis.h:90</div></div>
<div class="ttc" id="aclassEigen_1_1AngleAxis_html_a8dee3c98ecf3b95498901cfdb5c7911f"><div class="ttname"><a href="classEigen_1_1AngleAxis.html#a8dee3c98ecf3b95498901cfdb5c7911f">Eigen::AngleAxis::inverse</a></div><div class="ttdeci">AngleAxis inverse() const</div><div class="ttdef"><b>Definition:</b> AngleAxis.h:118</div></div>
<div class="ttc" id="aclassEigen_1_1AngleAxis_html_ab4a1ad0b14eca9778f6431c2fc4b0904"><div class="ttname"><a href="classEigen_1_1AngleAxis.html#ab4a1ad0b14eca9778f6431c2fc4b0904">Eigen::AngleAxis::AngleAxis</a></div><div class="ttdeci">AngleAxis()</div><div class="ttdef"><b>Definition:</b> AngleAxis.h:74</div></div>
<div class="ttc" id="aclassEigen_1_1AngleAxis_html_acaaea3e63665e811af3cacfd5fd141e0"><div class="ttname"><a href="classEigen_1_1AngleAxis.html#acaaea3e63665e811af3cacfd5fd141e0">Eigen::AngleAxis::cast</a></div><div class="ttdeci">internal::cast_return_type&lt; AngleAxis, AngleAxis&lt; NewScalarType &gt; &gt;::type cast() const</div><div class="ttdef"><b>Definition:</b> AngleAxis.h:136</div></div>
<div class="ttc" id="aclassEigen_1_1AngleAxis_html_acd82611c4fd46fcba522b0ede93f4f79"><div class="ttname"><a href="classEigen_1_1AngleAxis.html#acd82611c4fd46fcba522b0ede93f4f79">Eigen::AngleAxis::isApprox</a></div><div class="ttdeci">bool isApprox(const AngleAxis &amp;other, const typename NumTraits&lt; Scalar &gt;::Real &amp;prec=NumTraits&lt; Scalar &gt;::dummy_precision()) const</div><div class="ttdef"><b>Definition:</b> AngleAxis.h:153</div></div>
<div class="ttc" id="aclassEigen_1_1AngleAxis_html_ad333c1b13aa0fa01d7fab30f18d2cd46"><div class="ttname"><a href="classEigen_1_1AngleAxis.html#ad333c1b13aa0fa01d7fab30f18d2cd46">Eigen::AngleAxis::toRotationMatrix</a></div><div class="ttdeci">Matrix3 toRotationMatrix(void) const</div><div class="ttdef"><b>Definition:</b> AngleAxis.h:220</div></div>
<div class="ttc" id="aclassEigen_1_1AngleAxis_html_ad933b9ba0c40224b7ded9a313396c736"><div class="ttname"><a href="classEigen_1_1AngleAxis.html#ad933b9ba0c40224b7ded9a313396c736">Eigen::AngleAxis::angle</a></div><div class="ttdeci">Scalar angle() const</div><div class="ttdef"><b>Definition:</b> AngleAxis.h:93</div></div>
<div class="ttc" id="aclassEigen_1_1MatrixBase_html"><div class="ttname"><a href="classEigen_1_1MatrixBase.html">Eigen::MatrixBase</a></div><div class="ttdoc">Base class for all dense matrices, vectors, and expressions.</div><div class="ttdef"><b>Definition:</b> MatrixBase.h:52</div></div>
<div class="ttc" id="aclassEigen_1_1MatrixBase_html_a2d641a5804fff1c3db99a84ea93ecb63"><div class="ttname"><a href="classEigen_1_1MatrixBase.html#a2d641a5804fff1c3db99a84ea93ecb63">Eigen::MatrixBase::diagonal</a></div><div class="ttdeci">DiagonalReturnType diagonal()</div><div class="ttdef"><b>Definition:</b> Diagonal.h:189</div></div>
<div class="ttc" id="aclassEigen_1_1MatrixBase_html_a8a555b7cf626cced54670b98668c4e6d"><div class="ttname"><a href="classEigen_1_1MatrixBase.html#a8a555b7cf626cced54670b98668c4e6d">Eigen::MatrixBase::UnitX</a></div><div class="ttdeci">static const BasisReturnType UnitX()</div><div class="ttdef"><b>Definition:</b> CwiseNullaryOp.h:932</div></div>
<div class="ttc" id="aclassEigen_1_1Matrix_html"><div class="ttname"><a href="classEigen_1_1Matrix.html">Eigen::Matrix</a></div><div class="ttdoc">The matrix class, also used for vectors and row-vectors.</div><div class="ttdef"><b>Definition:</b> Matrix.h:182</div></div>
<div class="ttc" id="aclassEigen_1_1PlainObjectBase_html_a992d58b5453e441dcfc80f21c2bfd1d7"><div class="ttname"><a href="classEigen_1_1PlainObjectBase.html#a992d58b5453e441dcfc80f21c2bfd1d7">Eigen::PlainObjectBase::coeffRef</a></div><div class="ttdeci">Scalar &amp; coeffRef(Index rowId, Index colId)</div><div class="ttdef"><b>Definition:</b> PlainObjectBase.h:187</div></div>
<div class="ttc" id="aclassEigen_1_1QuaternionBase_html"><div class="ttname"><a href="classEigen_1_1QuaternionBase.html">Eigen::QuaternionBase</a></div><div class="ttdoc">Base class for quaternion expressions.</div><div class="ttdef"><b>Definition:</b> Quaternion.h:38</div></div>
<div class="ttc" id="aclassEigen_1_1QuaternionBase_html_ab5eae91bedac0afaab0074cec5e535bc"><div class="ttname"><a href="classEigen_1_1QuaternionBase.html#ab5eae91bedac0afaab0074cec5e535bc">Eigen::QuaternionBase::w</a></div><div class="ttdeci">CoeffReturnType w() const</div><div class="ttdef"><b>Definition:</b> Quaternion.h:74</div></div>
<div class="ttc" id="aclassEigen_1_1QuaternionBase_html_ada8bdb403471df23511bdc0f227962ea"><div class="ttname"><a href="classEigen_1_1QuaternionBase.html#ada8bdb403471df23511bdc0f227962ea">Eigen::QuaternionBase::vec</a></div><div class="ttdeci">const VectorBlock&lt; const Coefficients, 3 &gt; vec() const</div><div class="ttdef"><b>Definition:</b> Quaternion.h:86</div></div>
<div class="ttc" id="aclassEigen_1_1Quaternion_html"><div class="ttname"><a href="classEigen_1_1Quaternion.html">Eigen::Quaternion</a></div><div class="ttdoc">The quaternion class used to represent 3D orientations and rotations.</div><div class="ttdef"><b>Definition:</b> Quaternion.h:276</div></div>
<div class="ttc" id="aclassEigen_1_1RotationBase_html"><div class="ttname"><a href="classEigen_1_1RotationBase.html">Eigen::RotationBase</a></div><div class="ttdoc">Common base class for compact rotation representations.</div><div class="ttdef"><b>Definition:</b> RotationBase.h:32</div></div>
<div class="ttc" id="agroup__Geometry__Module_html_gad823b9c674644b14d950fbfe165dfdbf"><div class="ttname"><a href="group__Geometry__Module.html#gad823b9c674644b14d950fbfe165dfdbf">Eigen::AngleAxisf</a></div><div class="ttdeci">AngleAxis&lt; float &gt; AngleAxisf</div><div class="ttdef"><b>Definition:</b> AngleAxis.h:159</div></div>
<div class="ttc" id="agroup__Geometry__Module_html_gaed936d6e9192d97f00a9608081fa9b64"><div class="ttname"><a href="group__Geometry__Module.html#gaed936d6e9192d97f00a9608081fa9b64">Eigen::AngleAxisd</a></div><div class="ttdeci">AngleAxis&lt; double &gt; AngleAxisd</div><div class="ttdef"><b>Definition:</b> AngleAxis.h:162</div></div>
<div class="ttc" id="anamespaceEigen_html"><div class="ttname"><a href="namespaceEigen.html">Eigen</a></div><div class="ttdoc">Namespace containing all symbols from the Eigen library.</div><div class="ttdef"><b>Definition:</b> Core:139</div></div>
<div class="ttc" id="anamespaceEigen_html_ad01d50a42869218f1d54af13f71517a6"><div class="ttname"><a href="namespaceEigen.html#ad01d50a42869218f1d54af13f71517a6">Eigen::cos</a></div><div class="ttdeci">const Eigen::CwiseUnaryOp&lt; Eigen::internal::scalar_cos_op&lt; typename Derived::Scalar &gt;, const Derived &gt; cos(const Eigen::ArrayBase&lt; Derived &gt; &amp;x)</div></div>
<div class="ttc" id="anamespaceEigen_html_ae27242789e7e62a8c42579b79be59b1a"><div class="ttname"><a href="namespaceEigen.html#ae27242789e7e62a8c42579b79be59b1a">Eigen::abs</a></div><div class="ttdeci">const Eigen::CwiseUnaryOp&lt; Eigen::internal::scalar_abs_op&lt; typename Derived::Scalar &gt;, const Derived &gt; abs(const Eigen::ArrayBase&lt; Derived &gt; &amp;x)</div></div>
<div class="ttc" id="anamespaceEigen_html_ae6e8ad270ff41c088d7651567594f796"><div class="ttname"><a href="namespaceEigen.html#ae6e8ad270ff41c088d7651567594f796">Eigen::sin</a></div><div class="ttdeci">const Eigen::CwiseUnaryOp&lt; Eigen::internal::scalar_sin_op&lt; typename Derived::Scalar &gt;, const Derived &gt; sin(const Eigen::ArrayBase&lt; Derived &gt; &amp;x)</div></div>
<div class="ttc" id="astructEigen_1_1NumTraits_html"><div class="ttname"><a href="structEigen_1_1NumTraits.html">Eigen::NumTraits</a></div><div class="ttdoc">Holds information about the various numeric (i.e. scalar) types allowed by Eigen.</div><div class="ttdef"><b>Definition:</b> NumTraits.h:231</div></div>
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